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A Differential Game Approach to Formation Control

Gu, Dongbing (2008) 'A Differential Game Approach to Formation Control.' IEEE Transactions on Control Systems Technology, 16 (1). pp. 85-93. ISSN 1063-6536

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This paper presents a differential game approach to formation control of mobile robots. The formation control is formulated as a linear-quadratic Nash differential game through the use of graph theory. Finite horizon cost function is discussed under the open-loop information structure. An open-loop Nash equilibrium solution is investigated by establishing existence and stability conditions of the solutions of coupled (asymmetrical) Riccati differential equations. Based on the finite horizon open-loop Nash equilibrium solution, a receding horizon approach is adopted to synthesize a state-feedback controller for the formation control. Mobile robots with double integrator dynamics are used in the formation control simulation. Simulation results are provided to justify the models and solutions. © 2007 IEEE.

Item Type: Article
Uncontrolled Keywords: formation control; linear-quadratic differential game; Nash equilibrium
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Faculty of Science and Health
Faculty of Science and Health > Computer Science and Electronic Engineering, School of
SWORD Depositor: Elements
Depositing User: Elements
Date Deposited: 17 Dec 2012 16:39
Last Modified: 23 Sep 2022 18:46

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